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相关概念视频

Plastic Deformation in Circular Shafts01:20

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When materials are subjected to forces that surpass their yield strength, they undergo a process known as plastic deformation. This results in a permanent alteration or strain in their structure. This concept can be specifically applied to circular shafts, where the deformation leads to a change in its shape. The precise evaluation of this plastic deformation requires understanding the stress distribution within the circular shaft, which is achieved by calculating the maximum shearing stress in...
209

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在真空驱动的泡式执行器中通过感应方法检测变形.

Seonggun Joe1,2, Hongbo Wang1, Massimo Totaro1

  • 1Soft Biorobotics Perception Lab, Istituto Italiano di Tecnologia (IIT), Genova, GE, Italy.

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概括

软机器人感知得到了新的诱导泡传感器 (IFS) 的增强. 这种传感器与超轻型混合动力气动人工肌肉 (UH-PAMs) 无集成,可实现精确的毫米级运动控制.

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科学领域:

  • 软机器人软机器人 软机器人
  • 传感器技术 传感器技术
  • 控制系统 控制系统

背景情况:

  • 感知对于软机器人安全互动和环境探索至关重要.
  • 将传感器集成到软执行器中可能会损害可变形性和性能.
  • 传感和执行之间的机械协同作用对于精确的变形测量至关重要.

研究的目的:

  • 为软执行器开发一种新的传感解决方案,保持可变形性.
  • 将这个传感器集成到超轻混合气动人工肌肉 (UH-PAM) 中.
  • 为了展示传感器UH-PAM的精确运动控制.

主要方法:

  • 一个感应式泡传感器 (IFS) 是使用开放细胞泡和铜线设计的.
  • IFS被集成到一个超轻混合动力气动人工肌肉 (UH-PAM) 中.
  • 实施了一个可适应的比例滑动模式控制策略.

主要成果:

  • 传感器的UH-PAM (SUH-PAM) 在 -80 kPa.时实现了54%的收缩比.
  • 感应式传感显示出高灵敏度 (0.0103 1/%) 和低歇斯底里 (5.35%).
  • 毫米级运动控制以0.925毫米的根平均平方误差 (RMSE) 实现.

结论:

  • 感应式泡传感器 (IFS) 有效地为软执行器提供自身感知信息.
  • 开发的SUH-PAM系统在收缩和传感精度方面表现出色.
  • 可适应的滑动模式控制确保了软机器人应用的强大而精确的运动控制.